Design and Simulation of Space Deformable-Contact-Surface-Based End Effector

2013 ◽  
Vol 631-632 ◽  
pp. 1166-1171
Author(s):  
Huang Ran ◽  
Qian Xiang Zhou ◽  
Zhong Qi Liu
Keyword(s):  
Contact Surface ◽  
Force Control ◽  
Space Station ◽  
Matlab Software ◽  
End Effector ◽  
The Poor ◽  
The Future

It is common to use space arm for maintaining and assembling. The major technology problems to solve first are the deformability, the soft and tightening contact with the target. Use ER as the contactor of end effector which is learned from the space station end effector can overcome many problems, as the poor location precision and uncontainable attitude which is bring by the big space arm. The design of multi-DOF Deformable-Contact-Surface-Based shape adaptive end effector is introduced in this text. The simulation result by Matlab software proves the design not only can tight connect the target, but also can suppress vibration and meet the precise demand of location, precise force control and deformability. It can meet the multi-mission in the future.

Force Controlled Manipulation of Biological Cells Using a Monolithic MEMS Based Nano-Micro Gripper

2012 ◽  
Author(s):  
Ali A. Abbasi ◽  
M. T. Ahmadian
Keyword(s):  
Liquid Medium ◽  
Force Control ◽  
Force Sensor ◽  
Rapid Response ◽  
Pid Controllers ◽  
Biological Cells ◽  
Matlab Software ◽  
Micro Gripper ◽  
The Future ◽  
Geometrical Dimensions

Nano-micro grippers are able to pick-transport-place the micro or nanometer–sized materials, such as manipulation of biological cells or DNA molecules in a liquid medium. This paper proposes a novel monolithic nano-micro gripper structure with two axis piezoresistive force sensor which its resolution is under nanoNewton. The results of the study have been obtained by the simulation of the proposed gripper structure in Matlab software. Motion of the gripper arm is produced by a voice coil actuator. The behavior of the cell has been derived using the assumptions in the literatures. Moreover, two simple PID controllers, one for control of the gripper motion and another for control of the force during manipulation of a biologic cell, have been implemented. Although the proposed gripper has not been fabricated, since the geometrical dimensions of the proposed gripper is the same as previously developed electrothermally actuated micro-nano gripper, the results of force control have been also compared with it. The simulated results with the very simple PID force controller which has a more rapid response than previously developed electrothermally actuated micro-nano gripper show that the designed gripper has the potential to be considered and fabricated for manipulation of biological cells in the future.

Robot force control without dynamic model: theory and experiments

Robotica ◽  
2012 ◽  
Vol 31 (1) ◽  
pp. 149-171 ◽  
Author(s):  
Juan C. Rivera-Dueñas ◽  
Marco A. Arteaga-Pérez
Keyword(s):  
Model Theory ◽  
Contact Surface ◽  
Force Control ◽  
Control Algorithm ◽  
Velocity Measurements ◽  
Unit Quaternion ◽  
End Effector ◽  
Simulation Results ◽  
The Many ◽  
Theory And Experiments

SUMMARYAmong the many challenges to deal with, when a robot is interacting with its environment, friction at the contact surface and/or at the joints is one of the most important to be considered. In this paper we propose a control algorithm for the tracking of position and force (unconstrained orientation case only) of a manipulator end-effector that does not require the robot model for implementation. This characteristic has the advantage of making it capable to compensate friction effects without any previous estimation. Furthermore, no velocity measurements are needed, and the unit quaternion is employed for orientation control. Experimental and simulation results are provided.

scholarly journals Position/Force Control of Manipulator in Contact with Flexible Environment

2019 ◽  
Vol 13 (1) ◽  
pp. 16-22 ◽  
Author(s):  
Piotr Gierlak
Keyword(s):  
Neural Networks ◽  
Significant Influence ◽  
Contact Surface ◽  
Force Control ◽  
Tracking Control ◽  
Control Algorithm ◽  
Control Law ◽  
Controlled System ◽  
End Effector ◽  
Control Purpose

Abstract The paper presents the issue position/force control of a manipulator in contact with the flexible environment. It consists of the realisation of manipulator end-effector motion on the environment surface with the simultaneous appliance of desired pressure on the surface. The paper considers the case of a flexible environment when its deformation occurs under the pressure, which has a significant influence on the control purpose realisation. The article presents the model of the controlled system and the problem of tracking control with the use of neural networks. The control algorithm includes contact surface flexibility in order to improve control quality. The article presents the results of numerical simulations, which indicate the correctness of the applied control law.

Space Medicine Propelling Earth-Based Medicine for the Advantage of Human on Earth – A Vision Beyond 2020

2020 ◽  
Author(s):  
Kris See
Keyword(s):  
International Space Station ◽  
Good Condition ◽  
Space Station ◽  
Gear Up ◽  
Space Medicine ◽  
International Space ◽  
The Future ◽  
Based Medicine

What will be the future of medicine a decade from now? What difficulties related with preventing, detecting, and treating diseases will have been unraveled? How will space medicine make an impact?. Today as compared to previously, it is the role of space medicine to gear up astronauts sufficiently for their missions and also to maintain their health in good condition. Moreover, the exclusive and new environmental surroundings existing in space continuously propose prospects to validate theories and assumptions established by earth-based medicine and recognize likely mistakes and disparities, as we have been observing approximately more than a decade with outcomes for example, from the International Space Station.

The Future of Research on Assisted Housing for the Poor

2015 ◽  
Vol 25 (4) ◽  
pp. 802-805 ◽  
Author(s):  
Kirk McClure
Keyword(s):  
The Poor ◽  
The Future

scholarly journals PENINGKATAN KEMAMPUAN WIRAUSAHA MELALUI PENDIDIKAN JAHIT DAN BORDIR PADA PANTI ASUHAN AL-HUSNA DI LANDUNGSARI KECAMATAN DAU KABUPATEN MALANG (UPGRADES ENTREPRENEURSHIP THROUGH EDUCATION SEWING AND EMBROIDERY AT ORPHANAGE AL-HUSNA IN LANDUNGSARI SUBDISTRICT DAU MALANG)

2016 ◽  
Vol 1 (2) ◽  
Author(s):  
Aris Soelistyo
Keyword(s):  
Community Service ◽  
Design Patterns ◽  
Foster Parents ◽  
Nursing Program ◽  
School Age ◽  
Pattern Design ◽  
The Poor ◽  
Hands On ◽  
Helping Others ◽  
The Future

The Qur'an insists on the importance of care for orphans, thepoor and helping others in various fields. Orphanage AlHusna Malang, the vision and mission based on concern forthe orphans and the poor. A number of programs to helporphans, orphans and dhu'afa. The program was conducted onthe educational, social and religious. Al-Husna FoundationProgram includes six courses that regular donors program,the movement of the foster parents' caring school ", theprogram waqaf" RIDHA "(orphanages and orphans alHusna), independent nursing program, Barbepa (thriftrewarding) and program TABASAM (Savings dear orphans).One effort to educate and improve the ability of residentswere largely children of school age, including the ability ofmastering techniques of sewing and embroidery techniques.Of both skill capabilities will deliver on independententrepreneurship in the perspective of the future (as abusiness opportunity) in realizing the independent nursingprogram. The community service approach or method oflecture and hands-on ability to sew in children orphanage aswell as the ability to create design patterns clothes Resultsshowed that the strong enthusiasm of the children orphanageAl-Husna Dau to gain additional expertise in the field ofsewing and to develop or establish a pattern design clothes.

The Spread of Market Values

The 1970s ◽  
2011 ◽  
Author(s):  
Thomas Borstelmann
Keyword(s):  
Economic Growth ◽  
Stock Market ◽  
Standard Of Living ◽  
Human History ◽  
Market Values ◽  
The Poor ◽  
The World ◽  
The Future ◽  
World Economic

This chapter tracks the economy of the 1970s as it began to decline after the prosperity of previous decades. Economic growth had defined human history for two hundred years, reaching a peak in the generation after 1945 when world economic growth averaged an extraordinary 5–7 percent per year. Americans rode that growth to a higher standard of living than anyone else. But in the 1970s it all seemed to be flowing away. Unemployment, oil shortages, a plunging stock market, recession, and, above all, inflation were apparently ending these golden years of unparalleled prosperity. Inflation hit everyone, and it hit the poor hardest of all. Persistent inflation undercut dreams and hopes for the future. The economic trauma of the 1970s threatened to destabilize Americans' understanding of how the world worked.

Adaptive Contact Force Control of a Flexible Beam Using Output Feedback

2000 ◽  
Author(s):  
Woosoon Yim
Keyword(s):  
Contact Force ◽  
Contact Surface ◽  
Force Control ◽  
Closed Loop ◽  
Force Measurement ◽  
Transient Behavior ◽  
Loop System ◽  
Flexible Beam ◽  
Reference Trajectory ◽  
Closed Loop System

Abstract This paper presents an adaptive force trajectory control of a flexible beam using a piezoceramic actuator. Based on the adaptive backstepping method, a force control system using only force measurement is designed. For the derivation of the control law, it is assumed that parameters of the beam and contact surface stiffness are unknown. It is shown that in the closed-loop system, the contact force tracks a given reference trajectory and the beam vibration is suppressed as well. Digital simulations results show that the closed-loop system has good transient behavior and robust performance in the presence of uncertainties in the parameters of the flexible beam and the contact surface.

Things to Come

2015 ◽  
Author(s):  
Peter Marks
Keyword(s):  
Operating System ◽  
Medical Treatment ◽  
Environmental Stress ◽  
New Technologies ◽  
Space Station ◽  
Political Control ◽  
The Future ◽  
To Come ◽  
Near Future ◽  
The Relationship

This chapter deals with of recent novels and films that project forward into the near future, suggesting where surveillance might be heading. In Kim Stanley Robinson’s 2312, surveillance is figured into a future world of interplanetary environmentalism, in protecting planets and helping to monitor the ‘rewilding’ of an environmentally devastated Earth. Neill Blomkamp’s film Elysium fashions another Earth under environmental stress, patrolled by stringent surveillance operatives and systems that also screen the put-upon inhabitants from the eponymous eutopian space station literally and metaphorically above them. The film concentrates on the utopian urges of that population in their endeavour to overcome oppressive monitoring and receive medical treatment reserved for those on Elysium. Dave Eggers conjures up an apparently eutopian hi-tech company, The Circle, in his novel of the same name, representing how new technologies manipulate data and images for economic, social and political control. Spike Jonze’s film Her explores the relationship between surveillance and intimacy through the interaction between a human and an operating system. As with Eggers’ The Circle, Her investigates how data confuses definitions of identities as it allows for the fusion of surveillance and intimacy. These novels and films suggest some of the ways in which new forms of surveillance promise or threaten to fashion the worlds of the future. As with all such texts, they suggest options and present narratives and characters that enable readers and viewers to think and act so that the future approximates the eutopian rather than the dystopian.

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